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This research conducts a comprehensive review on the social impacts of Cooperative Automated Driving (CAD), including Infrastructure Enabled Autonomy (IEA). In order for reviewing and summarizing the CAD-related literature in an explicit and logical manner, this research originally classifies literature according to the Cooperative Automation Classes released by SAE. Based on this classification, the research progress of CAD in each class is briefly introduced, involving the objectives, contributions, and challenges of existing CAD studies. Furthermore, the social impacts of CAD on safety, mobility, and sustainability are analyzed, including the investigation into the potential of CAD in performance improvement, the discussion on the reliability of existing research results, and the summary of the key factors influencing the benefit fluctuation. The research results indicate that the benefits of adopting CAD are …